/*******************************************************************************
 * Title     : collision_check_thread.h
 * Project   : moveit_jog_arm
 * Created   : 1/11/2019
 * Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/

#pragma once

#include <atomic>
#include "jog_arm_data.h"
#include "low_pass_filter.h"
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>

namespace moveit_jog_arm
{
class CollisionCheckThread
{
public:
  /** \brief Constructor
   *  \param parameters: common settings of jog_arm
   *  \param planning_scene_monitor: PSM should have scene monitor and state monitor
   *                                 already started when passed into this class
   */
  CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);

  // Get thread-safe read-only lock of planning scene
  planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;

  void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables);

  void stopMainLoop();

private:
  // Loop termination flag
  std::atomic<bool> stop_requested_;

  const moveit_jog_arm::JogArmParameters parameters_;

  // Pointer to the collision environment
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
};
}
